本發明係有關於一種磁控內視鏡系統及其磁控裝置，特別是指兩相對應設置之磁性元件可在直角座標系統中之X軸向及Y軸向平移及旋轉，兩磁性元件並可相對位移而遠離或靠近，共五個自由度之磁場控制裝置；以及將該磁場控制裝置用以導引具有磁性元件之內視鏡導管之磁控內視鏡系統。The invention relates to a magnetron endoscope system and a magnetic control device thereof, in particular to two magnetic elements which are correspondingly arranged and which can be translated and rotated in the X-axis and the Y-axis in a right-angle coordinate system, and the two magnetic elements are combined. A five-degree-of-freedom magnetic field control device that is relatively far apart or close to the displacement; and a magnetically controlled endoscope system that uses the magnetic field control device to guide an endoscope catheter having a magnetic element.
醫學上經常使用的導管有心導管(Catheter)與內視鏡導管(Endoscope)。Catheters and endoscopes are commonly used in medicine.
心導管在臨床上是使用於診察心血管症狀，是用一支細長的導管從鼠蹊部、頸部或手臂的動脈或靜脈穿入，經血管抵達心臟，因此心導管在使用時會受到血管壁的支撐，並且心導管是沿著血管延伸方向行進，故心導管通常是撓性極佳的高分子軟管結構，由於高分子軟管結構的特性，所以心導管也無法作結構性的彎曲。心導管結構例如美國專利第6110163號「Preformed coronary artery guide catheter」，或是美國專利第5348545號「Guiding catheter for the right coronary artery」等相關前案所揭露者。Cardiac catheter is clinically used for the examination of cardiovascular symptoms. It is an elongated tube that is inserted from the artery or vein of the sac, neck or arm of the mouse. It passes through the blood vessel and reaches the heart. Therefore, the cardiac catheter is exposed to the vessel wall when it is used. The support and the cardiac catheter travel along the direction in which the blood vessel extends. Therefore, the cardiac catheter is usually a flexible polymer hose structure. Due to the characteristics of the polymer hose structure, the cardiac catheter cannot be structurally bent. The cardiac catheter structure is disclosed, for example, in the "Preformed coronary artery guide catheter" of U.S. Patent No. 6,110,163, or the related patents of the "Guiding catheter for the right coronary artery" of U.S. Patent No. 5,348,545.
對於內視鏡導管的微創手術而言，一般使用在臟器等腔體中，不若心導管是由血管提供行進路徑，內視鏡導管因使用在臟器等腔體中，所以內視鏡導管需要根據醫師欲診療之位置而創造主動式路徑，所以內視鏡導管之前側端頭時常需要能夠在臟器的腔體中懸浮、行進及彎曲轉向，供醫師能針對不同位置的病灶進行手術診療。內視鏡導管之構造如美國專利第US20110306831號「ENDOSCOPE WITH A BENDING PORTION」所示，一般是包括有一具有撓性但仍能維持一定剛性之管體，該管體一般是由不銹鋼絲編織而成，藉以供醫師可將診療器具透過前述管體伸入病患體內。而在該管體前端則有利用多節式樞接機構(bending section)組成之可彎曲之前側端頭，藉由可彎曲之前側端頭能彎曲朝向臟器不同角度位置，使醫師在診斷治療上更為方便。For minimally invasive surgery of endoscopic catheters, it is generally used in a cavity such as an organ. If the cardiac catheter is provided by a blood vessel, the endoscope catheter is used in a cavity such as an organ, so the internal view is The mirror catheter needs to create an active path according to the position of the doctor's medical treatment, so the front end of the endoscope catheter often needs to be able to suspend, travel and bend in the cavity of the organ for the doctor to target the lesions at different positions. Surgery treatment. The endoscope catheter is constructed as shown in the "ENDOSCOPE WITH A BENDING PORTION" of the US Patent No. US20110306831, and generally includes a flexible tube which can maintain a certain rigidity, and the tube is generally woven from stainless steel wire. In order to allow the physician to extend the medical device through the tube into the patient. At the front end of the tube body, there is a bendable front side end portion which is composed of a multi-section bending section, and the front side end of the bendable body can be bent at different angular positions toward the organ, so that the physician can diagnose and treat the patient. It is more convenient.
因為心導管是一種軟管結構，並且心導管順著血管方向行進，且行進受到血管壁支撐，僅在遇到血管的分支時需要選擇欲進入的分支血管；而內視鏡導管後端是具有一定剛性之管體，內視鏡導管前端則是多節式樞接機構(bending section)，且內視鏡導管為了診療的需要，必須要能控制其行進、彎曲，以及在內臟等腔體中懸浮等動作。因此心導管與內視鏡導管在臨床應用上可謂兩種截然不同的導管技術。Because the cardiac catheter is a hose structure, and the cardiac catheter travels in the direction of the blood vessel, and the travel is supported by the blood vessel wall, the branch blood vessel to be accessed needs to be selected only when the branch of the blood vessel is encountered; and the rear end of the endoscope catheter has For a rigid tube, the front end of the endoscope catheter is a multi-section bending section, and the endoscope catheter must be able to control its travel, bending, and internal organs, etc., for the purpose of diagnosis and treatment. Suspend and other actions. Therefore, cardiac catheters and endoscopic catheters can be described as two distinct catheter technologies in clinical applications.
而為了方便控制伸入人體的導管，有磁力控制技術應運而生，上述磁控技術係在導管前端裝設有磁性元件，導管伸入生物體內之後，在生物體外利用另一磁性元件產生磁場來導引導管前端之磁性元件。In order to facilitate the control of the catheter extending into the human body, magnetic control technology has emerged. The above-mentioned magnetron technology is equipped with a magnetic element at the front end of the catheter. After the catheter is inserted into the living body, another magnetic element is used to generate a magnetic field outside the body. Guide the magnetic element at the front end of the catheter.
磁控裝置有美國專利第US6537196號「MAGNET ASSEMBLY WITH VARIABLE FIELD DIRECTIONS AND METHODS OF MAGNETICALLY NAVIGATING MEDICAL OBJECTS」，係設置多顆磁鐵，並利用旋轉磁鐵來改變磁場方向。並有美國專利第US6311082號「DIGITAL MAGNETIC SYSTEM FOR MAGNETIC SURGERY」，係設置多顆不同位置的電磁鐵，相比於第一案，更容易藉由調整不同位置之電磁鐵的電流量，而調整磁場強度。惟上述磁控裝置使用多顆磁鐵或電磁鐵，不僅重量重、成本高，也不容易隨心所欲調整磁場大小及方向，而內視鏡導管使用在微創手術時，需要使內視鏡導管的前側端頭能準確對準病灶，才能有效進行內視鏡之微創手術，因此上述磁控裝置雖可用於導引心導管，但使用在內視鏡導管時，則仍有所述待改進之處。The magnetic control device has a "MAGNET ASSEMBLY WITH VARIABLE FIELD DIRECTIONS AND METHODS OF MAGNETICALLY NAVIGATING MEDICAL OBJECTS", which is provided with a plurality of magnets and uses a rotating magnet to change the direction of the magnetic field. There is a US Patent No. US6311082 "DIGITAL MAGNETIC SYSTEM FOR MAGNETIC SURGERY", which is provided with a plurality of electromagnets at different positions. Compared with the first case, it is easier to adjust the magnetic field by adjusting the amount of current of the electromagnets at different positions. strength. However, the above-mentioned magnetic control device uses a plurality of magnets or electromagnets, which are not only heavy and costly, but also difficult to adjust the size and direction of the magnetic field as desired, and the endoscope catheter is used in the minimally invasive surgery, and the front side of the endoscope catheter is required. The tip can be accurately aligned with the lesion to effectively perform minimally invasive surgery of the endoscope. Therefore, although the above-mentioned magnetron can be used to guide the cardiac catheter, when the endoscope catheter is used, there is still room for improvement. .
為了能在使用上更為方便及可精準控制磁場強度及方向，而能有效導引內視鏡導管使其準確對準病灶，本發明提供一種磁控裝置，係包括有：一底座，在該底座上設置有一第一線性運動單元；一第一平台，設置在該第一線性運動單元上，藉以使該第一平台在該底座上沿一X軸向線性位移，在該第一平台上並設置一第二線性運動單元；一第二平台，設置在該第二線性運動單元上，藉以使該第二平台在該第一平台上沿一Y軸向線性位移，其中該Y軸向垂直該X軸向；一支撐座，設置在該第二平台上，該支撐座上設置有一第一旋轉機構，該第一旋轉機構有沿該Y軸向延伸之一轉軸；一固定座，連接該第一旋轉機構之轉軸，藉以使該固定座繞該Y軸向旋轉，在該固定座上並設置有一第二旋轉機構；一圓弧狀之C形臂，設置在該第二旋轉機構上，藉以使該C形臂以其圓心為支點而繞該X軸向旋轉，在該C形臂兩端各設置有一第三線性運動單元；二第一磁性元件，固定在該C形臂兩端之第三線性運動單元上，藉以使該二第一磁性元件相對位移而遠離或靠近，在該二第一磁性元件之間產生一磁場。In order to be more convenient and precise to control the strength and direction of the magnetic field, and to effectively guide the endoscope catheter to accurately align the lesion, the present invention provides a magnetic control device comprising: a base, a first linear motion unit is disposed on the base; a first platform is disposed on the first linear motion unit, so that the first platform is linearly displaced along the X axis on the base, on the first platform And a second linear motion unit is disposed on the second linear motion unit, wherein the second platform is linearly displaced along the Y axis on the first platform, wherein the Y axis Vertically, the X-axis; a support base disposed on the second platform, the support base is provided with a first rotating mechanism, the first rotating mechanism has a rotating shaft extending along the Y-axis; a fixing base, connecting The rotating shaft of the first rotating mechanism is configured to rotate the fixing base about the Y axis, and a second rotating mechanism is disposed on the fixing seat; an arc-shaped C-shaped arm is disposed on the second rotating mechanism In order to make the C-arm The center of the C-arm is rotated about the X-axis, and a third linear motion unit is disposed at each end of the C-arm; and the first magnetic element is fixed on the third linear motion unit at both ends of the C-arm, thereby The two first magnetic elements are displaced relative to each other to move away from or close to each other, and a magnetic field is generated between the two first magnetic elements.
進一步，該第一磁性元件為電磁鐵，並且在該C形臂內緣連接有一軛鐵抵靠在該二第一磁性元件上。Further, the first magnetic element is an electromagnet, and a yoke is attached to the inner edge of the C-shaped arm to abut against the two first magnetic elements.
進一步，前述第一線性運動單元、第二線性運動單元及第三線性運動單元係使用線性滑軌。Further, the first linear motion unit, the second linear motion unit, and the third linear motion unit use a linear slide.
進一步，該C形臂兩側緣各沿伸有一翼片，該第二旋轉機構對應前述翼片設置有多組之相對兩滑輪貼抵在該翼片相對兩側面。Further, a fin is formed on each of the two sides of the C-shaped arm, and the second rotating mechanism is disposed corresponding to the plurality of sets of opposite pulleys on the opposite sides of the flap.
本發明再提供一種使用上述磁控裝置之磁控內視鏡系統，係進一步包括有一內視鏡導管，在該內視鏡導管上設置一第二磁性元件，該內視鏡導管透過該第二磁性元件而受該磁場導引。The present invention further provides a magnetron endoscope system using the above magnetic control device, further comprising an endoscope catheter, wherein a second magnetic component is disposed on the endoscope catheter, and the endoscope catheter transmits the second The magnetic element is guided by the magnetic field.
本發明之優點包括有：Advantages of the invention include:
1.利用本發明之磁控裝置共有五個自由度的位移旋轉機構來調整第一磁性元件相對位置，僅需要相對之兩第一磁性元件即可以有效的控制磁場大小及方向的變化。1. The magnetic control device of the present invention has a five-degree-of-freedom displacement rotating mechanism for adjusting the relative position of the first magnetic element, and only the two first magnetic elements are required to effectively control the change in the magnitude and direction of the magnetic field.
2.對於磁控內視鏡之應用而言，提供了一個方便操作，而易於控制磁場大小及方向變化，能夠導引內視鏡導管快速準確對準病灶之磁控裝置，能夠有效縮短內視鏡手術時間。2. For the application of the magnetron endoscope, it provides a convenient operation, and it is easy to control the size and direction of the magnetic field. It can guide the endoscope tube to quickly and accurately align the magnetic control device of the lesion, which can effectively shorten the internal vision. Mirror surgery time.
3.第一磁性元件使用電磁鐵，易於控制輸入電流，調整磁場強弱；並且在C形臂上加裝軛鐵，提高磁力線密度，可提供相對較小的電流，而產生足夠的磁場強度。3. The first magnetic component uses an electromagnet to easily control the input current and adjust the strength of the magnetic field. The yoke is added to the C-arm to increase the density of the magnetic field lines, which can provide a relatively small current and generate sufficient magnetic field strength.
綜合上述技術特徵，本發明磁控內視鏡系統及其磁控裝置的主要功效可在下述實施例清楚呈現。In summary of the above technical features, the main effects of the magnetron endoscope system of the present invention and its magnetron apparatus can be clearly demonstrated in the following embodiments.
本發明第一實施例請參閱第一圖及第二圖所示，係包括有：Referring to the first embodiment and the second figure, the first embodiment of the present invention includes:
一底座(1)，在該底座(1)上設置有一第一線性運動單元(11)；一第一平台(2)，設置在該第一線性運動單元(11)上，藉以使該第一平台(2)在該底座(1)上沿一X軸向線性位移，在該第一平台(2)上並設置一第二線性運動單元(21)；一第二平台(3)，設置在該第二線性運動單元(21)上，藉以使該第二平台(3)在該第一平台(2)上沿一Y軸向線性位移，其中該Y軸向垂直該X軸向；一支撐座(4)，設置在該第二平台(3)上，該支撐座(4)上設置有一第一旋轉機構(41)，該第一旋轉機構(41)有沿該Y軸向延伸之一轉軸(411)；一固定座(5)，連接該第一旋轉機構(41)之轉軸(411)，藉以使該固定座(5)繞該Y軸向旋轉，在該固定座(5)上並設置有一第二旋轉機構(51)；一圓弧狀之C形臂(6)，設置在該第二旋轉機構(51)上，其中該C形臂(6)兩側緣各沿伸有一翼片(61)，該第二旋轉機構(51)對應前述翼片(61)設置有多組之相對兩滑輪(511)貼抵在該翼片(61)相對兩側面[此部分請參閱第四圖所示]，藉此可使該C形臂(6)以其圓心為支點而繞該X軸向旋轉，其中該第二旋轉機構(51)之減速固定機構為習知，故說明書及圖中不再贅述，而在該C形臂(6)兩端並各設置有一第三線性運動單元(62)；二第一磁性元件(7)，固定在該C形臂(6)兩端之第三線性運動單元(61)上，藉以使該二第一磁性元件(7)相對位移而遠離或靠近，在該二第一磁性元件(7)之間產生一磁場，且該第一磁性元件(7)係使用電磁鐵，易於控制輸入電流，而可以方便調整磁場強弱；一內視鏡導管(8)，在該內視鏡導管(8)上設置一第二磁性元件(81)，該內視鏡導管(8)透過該第二磁性元件(81)而受該磁場導引。其中本實施例中，前述第一線性運動單元(11)、第二線性運動單元(21)及第三線性運動單元(62)係使用線性滑軌，使用線性滑軌可對於位移有較為精準的控制，要再說明的是，線性滑軌構造為習知，圖示中未詳繪其構造。a base (1), a first linear motion unit (11) is disposed on the base (1); a first platform (2) is disposed on the first linear motion unit (11), thereby The first platform (2) is linearly displaced along the X-axis on the base (1), and a second linear motion unit (21) is disposed on the first platform (2); a second platform (3), Provided on the second linear motion unit (21), whereby the second platform (3) is linearly displaced along the Y axis on the first platform (2), wherein the Y axis is perpendicular to the X axis; a support base (4) is disposed on the second platform (3), the support base (4) is provided with a first rotating mechanism (41), and the first rotating mechanism (41) has an extension along the Y axis a rotating shaft (411); a fixing base (5) connecting the rotating shaft (411) of the first rotating mechanism (41), thereby rotating the fixing base (5) about the Y axis, in the fixing base (5) And a second rotating mechanism (51) is disposed; an arc-shaped C-shaped arm (6) is disposed on the second rotating mechanism (51), wherein the C-arms (6) are edged on both sides Extending a flap (61), the second rotating mechanism (51) is arranged corresponding to the aforementioned flap (61) The opposite two pulleys (511) abut against the opposite sides of the fin (61) [see the fourth figure in this section], whereby the C-arm (6) can be wound around the center of the C-arm (6) X axial rotation, wherein the deceleration fixing mechanism of the second rotating mechanism (51) is conventional, so the description and the drawings are not described again, and a third linear motion is disposed at each end of the C-arm (6). a unit (62); two first magnetic elements (7) fixed to the third linear motion unit (61) at both ends of the C-arm (6), whereby the two first magnetic elements (7) are relatively displaced Moving away from or close, a magnetic field is generated between the two first magnetic elements (7), and the first magnetic element (7) uses an electromagnet to easily control the input current, and can easily adjust the strength of the magnetic field; an endoscope The catheter (8) is provided with a second magnetic element (81) on the endoscope catheter (8), and the endoscope tube (8) is guided by the magnetic field through the second magnetic element (81). In the embodiment, the first linear motion unit (11), the second linear motion unit (21) and the third linear motion unit (62) use linear slide rails, and the linear slide rails can be used for precise displacement. The control, to be repeated, is that the linear slide structure is conventional, and its construction is not detailed in the drawings.
如第三圖所示，係顯示前述第一平台(2)在該底座(1)上沿該X軸向線性位移之情況；如第四圖所示，係顯示前述第二平台(3)在該第一平台(2)上沿該Y軸向線性位移之情況；如第五圖所示，係顯示前述固定座(5)以該轉軸(411)為中心而繞該Y軸向旋轉之情況；如第六圖所示，係顯示前述C形臂(6)以其圓心為支點而繞該X軸向旋轉之情況；再如第七圖所示，係顯示前述二磁性元件(7)相對位移而遠離或靠近之情況。As shown in the third figure, the first platform (2) is linearly displaced along the X-axis on the base (1); as shown in the fourth figure, the second platform (3) is displayed. The first platform (2) is linearly displaced along the Y-axis; as shown in the fifth figure, the rotation of the fixing base (5) about the rotation axis (411) about the Y-axis is shown. As shown in the sixth figure, the C-arm (6) is rotated about the X-axis with its center as a fulcrum; as shown in the seventh figure, the two magnetic elements (7) are oppositely displayed. Displacement away from or close to.
透過上述第三圖至第七圖顯示本發明利用共五個自由度的位移旋轉機構，用以調整該二第一磁性元件(7)之相對位置，藉此可有效控制磁場大小及方向的變化，對於內視鏡微創手術而言，能夠導引內視鏡導管(8)準確快速的對準病灶執行手術，縮短手術時間。Through the above-mentioned third to seventh figures, the present invention utilizes a displacement rotation mechanism of a total of five degrees of freedom for adjusting the relative positions of the two first magnetic elements (7), thereby effectively controlling the change in the magnitude and direction of the magnetic field. For endoscopic minimally invasive surgery, it is possible to guide the endoscopic catheter (8) to accurately and quickly align the lesion to perform surgery and shorten the operation time.
本發明第二實施例請參閱第八圖所示，進一步可在該C形臂(6)之內緣連接有一軛鐵(9)，該軛鐵(9)抵靠在該二第一磁性元件(7)邊緣，在該二第一磁性元件(7)相對位移時，該軛鐵(9)都會持續抵靠在該二第一磁性元件(7)上，如此可提高磁力線密度，則前述電磁鐵可提供相對較小的電流，而產生足夠的磁場強度。Referring to the second embodiment of the present invention, as shown in the eighth figure, a yoke (9) may be further connected to the inner edge of the C-shaped arm (6), and the yoke (9) abuts against the two first magnetic components. (7) an edge, when the two first magnetic elements (7) are relatively displaced, the yoke (9) continues to abut against the two first magnetic elements (7), so that the magnetic flux density can be increased, and the electromagnetic Iron can provide a relatively small current while producing sufficient magnetic field strength.
綜合上述實施例之說明，當可充分瞭解本發明之操作、使用及本發明產生之功效，惟以上所述實施例僅係為本發明之較佳實施例，當不能以此限定本發明實施之範圍，即依本發明申請專利範圍及發明說明內容所作簡單的等效變化與修飾，皆屬本發明涵蓋之範圍內。In view of the foregoing description of the embodiments, the operation and the use of the present invention and the effects of the present invention are fully understood, but the above described embodiments are merely preferred embodiments of the present invention, and the invention may not be limited thereto. Included within the scope of the present invention are the scope of the present invention.
(1)．．．底座(1). . . Base
(11)．．．第一線性運動單元(11). . . First linear motion unit
(2)．．．第一平台(2). . . First platform
(21)．．．第二線性運動單元(twenty one). . . Second linear motion unit
(3)．．．第二平台(3). . . Second platform
(4)．．．支撐座(4). . . Support base
(41)．．．第一旋轉機構(41). . . First rotating mechanism
(411)．．．轉軸(411). . . Rotating shaft
(5)．．．固定座(5). . . Fixed seat
(51)．．．第二旋轉機構(51). . . Second rotating mechanism
(511)．．．滑輪(511). . . pulley
(6)．．．C形臂(6). . . C-arm
(61)．．．翼片(61). . . Wing
(62)．．．第三線性運動單元(62). . . Third linear motion unit
(7)．．．第一磁性元件(7). . . First magnetic element
(8)．．．內視鏡導管(8). . . Endoscope catheter
(81)．．．第二磁性元件(81). . . Second magnetic element
(9)．．．軛鐵(9). . . Yoke
第一圖係為本發明磁控內視鏡系統之立體外觀圖。The first figure is a perspective view of the magnetron endoscope system of the present invention.
第二圖係相對於第一圖，為本發明磁控裝置另一視角之立體外觀圖。The second figure is a perspective view of another perspective of the magnetic control device of the present invention with respect to the first figure.
第三圖係為本發明磁控裝置之第一平台在底座上沿X軸向線性位移之示意圖。The third figure is a schematic diagram of the first platform of the magnetic control device of the present invention linearly displaced along the X-axis on the base.
第四圖係為本發明磁控裝置之第二平台在第一平台上沿Y軸向線性位移之示意圖。The fourth figure is a schematic diagram of the second platform of the magnetic control device of the present invention linearly displaced along the Y axis on the first platform.
第五圖係為本發明磁控裝置之固定座以第一旋轉機構之轉軸為中心而繞Y軸向旋轉之示意圖。The fifth figure is a schematic view of the fixing seat of the magnetic control device of the present invention rotating around the Y axis centering on the rotating shaft of the first rotating mechanism.
第六圖係為本發明磁控裝置之C形臂以其圓心為支點而繞X軸向旋轉之示意圖。The sixth figure is a schematic view of the C-arm of the magnetic control device of the present invention rotating about the X-axis with its center as a fulcrum.
第七圖係為本發明磁控裝置之二磁性元件相對位移而遠離或靠近之示意圖。The seventh figure is a schematic view of the magnetic components of the magnetic control device of the present invention being moved away from or close to each other.
第八圖係為本發明之磁控裝置中，在C形臂上裝設軛鐵之構造示意圖。The eighth figure is a schematic view showing the structure of the yoke on the C-arm in the magnetron of the present invention.
(1)．．．底座(1). . . Base
(11)．．．第一線性運動單元(11). . . First linear motion unit
(2)．．．第一平台(2). . . First platform
(21)．．．第二線性運動單元(twenty one). . . Second linear motion unit
(3)．．．第二平台(3). . . Second platform
(4)．．．支撐座(4). . . Support base
(41)．．．第一旋轉機構(41). . . First rotating mechanism
(411)．．．轉軸(411). . . Rotating shaft
(5)．．．固定座(5). . . Fixed seat
(51)．．．第二旋轉機構(51). . . Second rotating mechanism
(511)．．．滑輪(511). . . pulley
(6)．．．C形臂(6). . . C-arm
(61)．．．翼片(61). . . Wing
(62)．．．第三線性運動單元(62). . . Third linear motion unit
(7)．．．第一磁性元件(7). . . First magnetic element
(8)．．．內視鏡導管(8). . . Endoscope catheter
(81)．．．第二磁性元件(81). . . Second magnetic element
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW101143778ATWI540993B (en) | 2012-11-22 | 2012-11-22 | Magnetic controlling endoscope system and magnetic controlling device thereof |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW101143778ATWI540993B (en) | 2012-11-22 | 2012-11-22 | Magnetic controlling endoscope system and magnetic controlling device thereof |
| Publication Number | Publication Date |
|---|---|
| TW201420062Atrue TW201420062A (en) | 2014-06-01 |
| TWI540993B TWI540993B (en) | 2016-07-11 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| TW101143778ATWI540993B (en) | 2012-11-22 | 2012-11-22 | Magnetic controlling endoscope system and magnetic controlling device thereof |
| Country | Link |
|---|---|
| TW (1) | TWI540993B (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104116484A (en)* | 2014-07-03 | 2014-10-29 | 乐虹信息科技(上海)有限公司 | Endoscope system with adjustable shooting angle and method |
| TWI678180B (en)* | 2018-09-19 | 2019-12-01 | 醫電鼎眾股份有限公司 | Endoscope device with magnetic suction function |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104116484A (en)* | 2014-07-03 | 2014-10-29 | 乐虹信息科技(上海)有限公司 | Endoscope system with adjustable shooting angle and method |
| TWI678180B (en)* | 2018-09-19 | 2019-12-01 | 醫電鼎眾股份有限公司 | Endoscope device with magnetic suction function |
| Publication number | Publication date |
|---|---|
| TWI540993B (en) | 2016-07-11 |
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| Date | Code | Title | Description |
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| MM4A | Annulment or lapse of patent due to non-payment of fees |